Welcome to the website of the Collective Dynamics and Control Laboratory

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Contact Info

Dr. Derek A. Paley
Director, Collective Dynamics and Control Laboratory
Willis H. Young Jr. Associate Professor of Aerospace Engineering Education
Department of Aerospace Engineering and Institute for Systems Research, University of Maryland
3150 Martin Hall, College Park, MD 20742
(301) 405-5757 | (301) 314-0213 (fax)
dpaley@umd.edu | http://cdcl.umd.edu

Director Bio

Derek A. Paley is the Willis H. Young Jr. Associate Professor of Aerospace Engineering Education in the Department of Aerospace Engineering and the Institute for Systems Research at the University of Maryland. He is the founding director of the Collective Dynamics and Control Laboratory and a member of the Alfred Gessow Rotorcraft Center, the Maryland Robotics Center, the Program in Neuroscience and Cognitive Science, the Burgers Program for Fluid Dynamics, and the Applied Mathematics & Statistics, and Scientific Computation Program. Paley received the B.S. degree in Applied Physics from Yale University in 1997 and the Ph.D. degree in Mechanical and Aerospace Engineering from Princeton University in 2007 (dissertation). He received the National Science Foundation CAREER award in 2010, the Presidential Early Career Award for Scientists and Engineers in 2012, and is co-author of Engineering Dynamics: A Comprehensive Introduction (Princeton University Press, 2011). Paley was a Sabbatical Fellow in the 2013–2014 Office of Naval Research Sabbatical Leave Program, working at the Laboratory for Autonomous Systems Research at the Naval Research Laboratory. He teaches introductory engineering dynamics, advanced dynamics, aircraft flight dynamics and control, and nonlinear control. Paley’s research interests are in the area of dynamics and control, including cooperative control of autonomous vehicles, adaptive sampling with mobile networks, and spatial modeling of biological groups. His research is based on support by the U.S. Army, the Office of Naval Research, the Air Force Office of Scientific Research, and the National Science Foundation. Paley is an Associate Fellow of AIAA and a Senior Member of IEEE. He is Associate Editor of the AIAA Journal of Guidance, Control, and Dynamics, Associate Editor of the IEEE Transactions on Control of Network Systems, and a member of the IEEE Control Systems Society Aerospace Controls Technical Committee. Curriculum vitae; Google scholar profile; ResearcherID

News

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Research

Topics

Videos

Current Projects

Facilities

Publications

Books

1.   N. J. Kasdin and D. A. Paley. Engineering dynamics: A comprehensive introduction. Princeton University Press, 2011. [Review] [Errata].

Book Chapters

1.   D. A. Paley, L. DeVries, and N. Sydney. Data-driven routing of autonomous vehicles for distributed estimation of spatiotemporal fields. Submitted.

Journal articles (since 2010)

35.   L. DeVries and D. A. Paley. Wake sensing and estimation for relative-position control of autonomous aircraft in formation flight. Submitted.

34.   N. Sydney, D. A. Paley, and D. Sofge. Physics-inspired robotic motion planning for cooperative Bayesian target detection. Submitted.

33.   T. Severson and D. A. Paley. Distributed multi-target search and track assignment with consensus-based coordination. Accepted for publication in IEEE Sensors Journal.

32.   L. DeVries, F. D. Lagor, H. Lei, X. Tan, and D. A. Paley. Distributed flow estimation and closed-loop control of an underwater vehicle with a multi-modal artificial lateral line. Accepted for publication in Bioinspiration & Biomimetics, special issue on “Hybrid and multi-modal locomotion”.

31.   T. Severson and D. A. Paley. Optimal sensor coordination for multi-target search and track assignment. Accepted for publication in IEEE Trans. Aerospace and Electronic Systems.

30.   D. Shishika, N. C. Manoukis, S. Butail, and D. A. Paley. Male motion coordination in anopheline mating swarms. Scientific Reports, 4(6318):1–7, 2014.

29.   A. Chicoli, S. Butail, J. Lun, J. Bak-Coleman, S. Coombs, and D. A. Paley. The effects of flow on schooling Devario aequipinnatus: school structure, startle response and information transmission. J. Fish Biology, 84(5):1401–1421, 2014.

28.   N. C. Manoukis, S. Butail, M. Diallo, J. M. Ribeiro, and D. A. Paley. Stereoscopic video analysis of Anopheles gambiae behavior in the field: Challenges and opportunities. Acta Tropica, 132(1):1–6, 2014.

27.   N. Sydney and D. A. Paley. Multivehicle Coverage Control for Nonstationary Spatiotemporal Fields. Automatica, 50(5):1381–1390, 2014.

26.   F. D. Lagor, L. DeVries, K. Waychoff, and D. A. Paley. Bio-inspired flow sensing and control: Autonomous rheotaxis using distributed pressure measurements. J. Unmanned System Technologies, 1(3):78–88, 2013.

25.   J. Bak-Coleman, A. Court, D. A. Paley, and S. Coombs. The spatiotemporal dynamics of rheotactic behavior depends on flow speed and available sensory information. J. Exp. Biology, 216:4011–4024, 2013.

24.   S. Butail, N. Manoukis, M. Diallo, J. M. Ribeiro, and D. A. Paley. The dance of male Anopheles gambiae in wild mating swarms. J. Medical Entomology, 50(3):552–559, 2013.

23.   C. Peterson and D. A. Paley. Distributed estimation for motion coordination in an unknown spatially varying flowfield. AIAA J. Guidance, Control, and Dynamics, 36(3):894–898, 2013.

22.   S. Napora and D. A. Paley. Observer-based feedback control for stabilization of collective motion. IEEE Trans. Control Systems Technology, 21(5):1846–1857, 2013.

21.   S. Sherman, D. A. Paley, and N. M. Wereley. Parallel simulation of transient magnetorheological direct shear flows using millions of particles. IEEE Trans. Magnetics, 48(11):3517–3520, 2012.

20.   L. DeVries, S. J. Majumdar, and D. A. Paley. Observability-based optimization of coordinated sampling trajectories for recursive estimation of a strong, spatially varying flowfield. J. Intelligent and Robotic Systems, 67(3-4):527–544, 2012.

19.   S. Butail, N. Manoukis, M. Diallo, J. M. Ribeiro, T. Lehmann, and D. A. Paley. Reconstructing the flight kinematics of swarming and mating in wild mosquitoes. J. Royal Society Interface, 9(75):2624–2638, 2012.

18.   L. DeVries and D. A. Paley. Multivehicle control in a strong flowfield with application to hurricane sampling. AIAA J. Guidance, Control, and Dynamics, 35(3):794–806, 2012.

17.   S. Butail and D. A. Paley. Three-dimensional reconstruction of the fast-start swimming kinematics of densely schooling fish. J. Royal Society Interface, 9(66):77–88, 2012.

16.   R. Mellish, S. Napora, and D. A. Paley. Backstepping control design for motion coordination of self-propelled vehicles in a flowfield. Int. J. Robust and Nonlinear Control, 21(12):1452–1466, 2011.

15.   C. Peterson and D. A. Paley. Multivehicle coordination in an estimated time-varying flowfield. AIAA J. Guidance, Control, and Dynamics, 34(1):177–191, 2011.

14.   S. Hernandez and D. A. Paley. Three-dimensional motion coordination in a spatiotemporal flowfield. IEEE Trans. Automatic Control, 55(12):2805–2810, 2010.

13.   L. Techy, D. A. Paley, and C. A. Woolsey. Unmanned aerial vehicle coordination on closed convex paths in wind. AIAA J. Guidance, Control, and Dynamics, 33(6):1946–1951, 2010.

12.   N. E. Leonard, D. A. Paley, R. E. Davis, D. M. Fratantoni, F. Lekien, and F. Zhang. Coordinated control of an underwater glider fleet: An adaptive ocean sampling field experiment in Monterey Bay. J. Field Robotics, 27(6):718–740, 2010.

Conference papers (since 2010)

49.   C. G. Hooi, F. D. Lagor, and D. A. Paley. Flow sensing, estimation and feedback control for rotorcraft landing in ground effect. Submitted.

48.   D. Shishika, J. K. Yim, and D. A. Paley. Bio-inspired pursuit with autonomous hovercraft using Lyapunov-based control. Submitted.

47.   D. W. Yeo, N. Sydney, D. A. Paley, and D. Sofge. Onboard flow sensing for downwash detection and avoidance on small quadrotor helicopters. Accepted for presentation at SciTech’15.

46.   D. Yeo, E. Shrestha, D. A. Paley, and E. Atkins. Experimental development of a rotorcraft UAV downwash model for real-time disturbance localization and avoidance. Accepted for presentation at SciTech’15.

45.   F. D. Lagor and D. A. Paley. Active Singularities for Motion Planning in an N-Vortex System. Accepted for presentation at DyDESS’14.

44.   N. Sydney, B. Smyth, and D. A. Paley. Dynamic Control of Autonomous Quadrotor Flight in an Estimated Wind Field. In Proc. IEEE Conf. Decision and Control, pages 3609–3616, Florence, Italy, December 2013.

43.   T. Severson and D. A. Paley. Distributed Multi-Target Search and Track Assignment Using Consensus-Based Coordination. In Proc. IEEE SENSORS, number 7504, pages 1474–1477, Baltimore, Maryland, November 2013.

42.   L. DeVries and D. A. Paley. Wake Estimation and Dynamic Control for Autonomous Aircraft in Formation Flight. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2013-4705, Boston, Massachusetts, August 2013.

41.   F. D. Lagor, L. DeVries, K. Waychoff, and D. A. Paley. Bio-inspired flow sensing and control for autonomous underwater navigation using distributed pressure measurements. In Proc. 18th Int. Symp. Unmanned Untethered Submersible Tech., Portsmouth, New Hampshire, August 2013.

40.   L. DeVries and D. A. Paley. Observability-based optimization for flow sensing and control of an underwater vehicle in a uniform flowfield. In Proc. American Control Conf., pages 1388–1393, Washington, District of Columbia, June 2013. Invited session on “Vehicle Control and Estimation in the Undersea Environment”.

39.   N. Sydney and D. A. Paley. Optimal Sampling of Nonstationary Spatiotemporal Fields Using a Mobile Sensory Network. In Proc. 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, Santa Barbara, California, September 2012.

38.   L. DeVries and D. A. Paley. Dynamic Altitude Control for Motion Coordination in an Estimated Shear Flow. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2012-4696, Minneapolis, Minnesota, August 2012.

37.   L. DeVries, S. Majumdar, and D. A. Paley. Observability-based Optimization of Coordinated Sampling Trajectories for Flowfield Estimation. In Proc. Int. Conf. Unmanned Aircraft Systems, Philadelphia, Pennsylvania, June 2012.

36.   T. Severson and D. A. Paley. Distributed Optimization for Radar Mission Coordination. In Proc. American Control Conf., pages 5102–5107, Montreal, Canada, June 2012.

35.   S. Butail, A. Chicoli, and D. A. Paley. Putting the Fish in the Fish Tank: Immersive VR for Animal Behavior Experiments. In Proc. Int. Conf. Robotics and Automation, pages 5018–5023, Saint Paul, Minnesota, May 2012.

34.   R. Mellish and D. A. Paley. Motion coordination of planar rigid bodies. In Proc. IEEE Conf. Decision and Control, pages 4897–4902, Orlando, Florida, December 2011.

33.   N. Sydney and D. A. Paley. Multi-vehicle control and optimization for spatiotemporal sampling. In Proc. IEEE Conf. Decision and Control, pages 5607–5612, Orlando, Florida, December 2011. Invited session on “Consensus algorithms, cooperative control, and distributed optimization”.

32.   S. Butail, N. C. Manoukis, D. Moussa, A. S. Yaro, A. Dao, C. Traoré, J. Ribeiro, T. Lehmann, and D. A. Paley. 3D tracking of mating events in wild swarms of the malaria mosquito Anopheles gambiae. In Proc. 33rd Int. Conf. IEEE Engineering in Medicine and Biology Society, pages 720–723, Boston, Massachusetts, August 2011.

31.   S. Sherman, D. A. Paley, and N. Wereley. Massively parallel simulations of chain formation and restructuring dynamics in a magnetorheological fluid. In Proc. ASME Conf. Smart Materials, Adaptive Structures and Intelligent Systems, number SMASIS2011-5188, Scottsdale, Arizona, September 2011.

30.   C. Peterson and D. A. Paley. Distributed estimation for motion coordination in an unknown spatiotemporal flowfield. In Proc. AIAA Guidance, Navigation, and Control Conf., number AIAA-2011-6481, Portland, Oregon, August 2011.

29.   L. DeVries and D. A. Paley. Multi-vehicle control in a strong flowfield with application to hurricane sampling. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2011-6478, Portland, Oregon, August 2011.

28.   S. Napora and D. A. Paley. Observer-based feedback control for stabilization of collective motion. In Proc. American Control Conf., pages 3996–4001, San Francisco, California, June 2011.

27.   N. Mahmoudian and D. A. Paley. Synchronization on the N-torus with noisy measurements. In Proc. American Control Conf., pages 4014–4019, San Francisco, California, June 2011.

26.   N. Sydney, S. Napora, and D. A. Paley. A multi-vehicle testbed for underwater motion coordination. In Proc. Performance Metrics for Intelligent Systems Workshop, Invited paper, Baltimore, Maryland, September 2010.

25.   R. Mellish and D. A. Paley. Backstepping control design for motion coordination of self-propelled vehicles. In Proc. IEEE Conf. Decision and Control, pages 5468–5473, Atlanta, Georgia, December 2010.

24.   C. Peterson and D. A. Paley. Multi-vehicle coordination of autonomous vehicles in an unknown flowfield. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2010-7585, Toronto, Canada, August 2010.

23.   D. A. Paley and A. K. Baharani. Critical damping in a kinetic interaction network. In Proc. American Control Conf., pages 4628–4633, Baltimore, Maryland, July 2010.

22.   S. Butail and D. A. Paley. 3D reconstruction of fish schooling kinematics from underwater video. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2438–2443, Anchorage, Alaska, May 2010.

Lab Members

Current undergraduate students

1.
Maks Berger (AE 2016)
2.
Nathan Lauer (AE/CS 2015)
3.
Patrick Washington (AE 2017)
4.
Stephen Tennyson (BIO 2016)

Current graduate students and postdocs

1.
Amanda Chicoli (NACS PhD)
2.
Will Craig (AE PhD)
3.
Chin Gian Hooi (AE MS)
4.
Frank Lagor (AE PhD)
5.
Daigo Shishika (AE MS)
6.
Nitin Sydney (AE PhD)
7.
Derrick Yeo (AE postdoc)
8.
Feitian Zhang (AE postdoc)

Former graduate students and postdocs

    8.    Levi DeVries (AE PhD 2014; faculty U.S. Naval Academy) dissertation
    7.    Tracie Severson (AE PhD 2013; faculty U.S. Naval Academy) dissertation
    6.    Sachit Butail (AE PhD 2012; faculty IIIT-Delhi) dissertation
    5.    Cammy Peterson (AE PhD 2012) dissertation
    4.    Nina Mahmoudian (AE postdoc 2011; faculty Michigan Tech)
    3.    Seth Napora (AE MS 2011) thesis
    2.    Rochelle Mellish (AE MS 2011) thesis
    1.    Sonia Hernandez (AE MS 2009) thesis

Last updated October 29, 2014